CN114679104A - Method for improving torque quality of motor - Google Patents

Method for improving torque quality of motor Download PDF

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Publication number
CN114679104A
CN114679104A CN202011552291.7A CN202011552291A CN114679104A CN 114679104 A CN114679104 A CN 114679104A CN 202011552291 A CN202011552291 A CN 202011552291A CN 114679104 A CN114679104 A CN 114679104A
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Prior art keywords
current
torque
target harmonic
harmonic current
obtaining
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黄厚佳
田井呈
袁峥
潘勇生
邵熙芬
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Zhejiang PanGood Power Technology Co Ltd
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Zhejiang PanGood Power Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a method for improving the torque quality of a motor, which comprises the following steps: injecting a target harmonic current into the armature winding, the target harmonic current producing a target harmonic flux density component that interacts with a fundamental flux density to produce a pulsating torque component that can attenuate or cancel the pulsating torque of the electric machine. The invention achieves the purpose of optimizing the torque quality of the motor by injecting target harmonic current into the armature winding. Aiming at different motors, target harmonic current can be always obtained according to different working conditions of the motors, the target harmonic current is utilized to generate a target harmonic flux density component, the target harmonic flux density component and fundamental flux density interact to generate a pulsating torque component, and the difference between the pulsating torque component and the initial phase angle of the pulsating torque of the motors is 180 degrees or nearly 180 degrees. Therefore, the method for improving the torque quality of the motor is suitable for different motors and different working conditions of the motor, and has universal applicability.

Description

Method for improving torque quality of motor
Technical Field
The invention relates to the technical field of motors, in particular to a method for improving the torque quality of a motor.
Background
When the motor is in steady-state operation, the torque is not a constant value and fluctuates around a fixed value, and the phenomenon is called torque pulsation. The torque at which the pulsation occurs is a pulsating torque. The pulsation torque can deteriorate the comprehensive performance of the motor, influence the precision of the transmission system and enable the transmission system to generate corresponding vibration noise. The pulsating torque is generated by harmonic magnetic fields in the motor field. While the harmonic magnetic fields are caused by some characteristic of the machine itself. Different motors may be caused by different characteristics, and even the characteristics of harmonic magnetic fields caused by the motors under different working conditions are different, so that the torque cannot be optimized by a common method.
Disclosure of Invention
The invention aims to design a method for improving the torque quality of a motor, which is suitable for motors under different working conditions. In order to achieve the purpose, the invention provides the following technical scheme:
a method of improving torque quality of an electric machine, comprising:
injecting a target harmonic current into the armature winding, the target harmonic current producing a target harmonic flux density component that interacts with a fundamental flux density to produce a pulsating torque component that can attenuate or cancel the pulsating torque of the electric machine.
Preferably, the method of obtaining the target harmonic current comprises:
obtaining the order m of the target harmonic current;
obtaining an initial phase angle of the target harmonic current
Figure RE-RE-GDA0002945372570000011
And the current amplitude Im。
Preferably, the method for obtaining the order m of the target harmonic current comprises the following steps:
acquiring the order v of the pulsating torque;
and deriving the order m of the target harmonic current according to the formula m-v-1, wherein the order of the fundamental flux density is 1 order.
Preferably, the specific method of "obtaining the order v of the pulsating torque component" is to simulate a torque waveform of the pulsating torque by finite element calculation, and perform fourier transform on a simulation result to obtain the order v of the pulsating torque.
Preferably, said' obtaining an initial phase angle of said target harmonic current
Figure RE-RE-GDA0002945372570000021
And the current amplitude ImThe specific method comprises the following steps:
obtaining the amplitude I of fundamental current;
obtaining the initial phase angle of the rated target harmonic current under the rated working condition
Figure RE-RE-GDA0002945372570000022
And amplitude of current Im1；
According to the formula
Figure RE-RE-GDA0002945372570000023
Im＝Im1/INObtaining the current amplitude I of the target harmonic currentmInitial phase angle of sum current
Figure RE-RE-GDA0002945372570000024
Said INIs the magnitude of the rated current.
Preferably, the step of obtaining the initial phase angle of the rated target harmonic current under the rated working condition
Figure RE-RE-GDA0002945372570000025
And the current amplitude Im1The specific method comprises the following steps: the motor is operated under a rated working condition, and the initial phase angle is obtained through finite element simulation
Figure RE-RE-GDA0002945372570000026
And the current amplitude Im1。
Preferably, the specific method for acquiring the amplitude I of the fundamental current is as follows: and acquiring position parameters and current parameters of a rotor, calculating the rotating speed and the torque of the rotor according to the position parameters and the current parameters, and deducing the amplitude I of the fundamental current according to the rotating speed and the torque of the rotor.
Preferably, the acquiring of the position parameter and the current parameter of the rotor is specifically obtained by a position sensor and a current sensor.
Preferably, the target harmonic current is injected into the armature winding by a power electronic switching device controlling a power supply, the power electronic switching device for controlling the switching on and off of the power supply.
Preferably, the position sensor and the current sensor transmit the position parameter and the current parameter to a controller in real time, the controller derives the amplitude I of the fundamental current from the position parameter and the current parameter and finally derives the target harmonic current, and the controller controls the power electronic switching devices in real time according to the target harmonic current.
It can be seen from the above technical solution that: the aim of optimizing the torque quality of the motor is achieved by injecting a target harmonic current into the armature winding. Aiming at different motors, target harmonic current can be always obtained according to different working conditions of the motors, the target harmonic current is utilized to generate a target harmonic flux density component, the target harmonic flux density component and fundamental flux density interact to generate a pulsating torque component, and the difference between the pulsating torque component and the initial phase angle of the pulsating torque of the motors is 180 degrees or nearly 180 degrees. Therefore, the method for improving the torque quality of the motor is suitable for different motors and different working conditions of the motor, and has universal applicability.
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In order to more clearly illustrate the solution of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.
FIG. 1 is a schematic diagram of a suppressor ring according to an embodiment of the present invention;
FIG. 2 is a comparison graph of torque waveforms before and after injection of a negative sequence target harmonic of order 5 into a 24 slot 16 pole motor;
fig. 3 is a comparison graph of the torque spectrum after fourier decomposition of fig. 2.
Detailed Description
The invention discloses a method for improving the torque quality of a motor, which is suitable for motors under different working conditions.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a method for improving the torque quality of a motor, which comprises the following steps: and injecting a target harmonic current into the armature winding, wherein the target harmonic current generates a target harmonic flux density component, and the target harmonic flux density component interacts with the fundamental flux density of the motor to generate a pulsating torque component which is different from or close to 180 degrees of an initial phase angle of the pulsating torque of the motor. If the amplitude of the generated pulsating torque component is equal to that of the pulsating torque of the motor and the initial phase angle is different by 180 deg., the pulsating torque component of the motor is eliminated. The fundamental wave flux density is the flux density synthesized by the fundamental wave flux density generated by the permanent magnet and the flux density generated by the fundamental wave current.
The aim of optimizing the torque quality of the motor is achieved by injecting a target harmonic current into the armature winding. Aiming at different motors, target harmonic current can be always obtained according to different working conditions of the motors, the target harmonic current is utilized to generate a target harmonic flux density component, the target harmonic flux density component and fundamental flux density interact to generate a pulsating torque component, and the difference between the pulsating torque component and the initial phase angle of the pulsating torque of the motors is 180 degrees or nearly 180 degrees. Therefore, the method for improving the torque quality of the motor is suitable for different motors and different working conditions of the motor, and has universal applicability.
In the invention, the method for acquiring the target harmonic current comprises the following steps: obtaining order m of the target harmonic current; obtaining the initial phase angle of the target harmonic current
Figure RE-RE-GDA0002945372570000041
And amplitude of current Im. At the order m and initial phase angle of obtaining target harmonic current
Figure RE-RE-GDA0002945372570000042
And the current amplitude ImAnd then the accurate target harmonic current can be obtained, so that the accurate target harmonic current can be injected into the armature winding.
The method for acquiring the order m of the target harmonic current comprises the following steps: acquiring the order v of the pulsating torque; and according to the formula m-v-1, deriving the order m of the target harmonic current, wherein the order of the fundamental flux density is 1 order.
If the order of the ripple torque of the motor is v and the order of the target harmonic current is m, then m is v +1 or m is v-1. And m-v +1 corresponds to the positive sequence target harmonic current. And m-v-1 corresponds to a negative sequence target harmonic current. If a positive sequence v +1 order harmonic current is introduced, a v +1 order forward rotation harmonic flux density is generated, the harmonic flux density and a forward rotation fundamental flux density (1 order) act to generate a v order (the torque frequency is related to the relative rotation speeds of two flux densities generating the torque, the rotation directions are the same, so the relative rotation speeds are subtracted, and the frequency is in proportion to the rotation speeds, so the frequency order v of the torque is obtained by subtracting the corresponding frequencies). The principle of introducing negative sequence harmonic current is the same, but the rotating speed of the generated harmonic flux density is opposite to the direction of the fundamental flux density, so the relative speed is the sum of two speeds, and the frequency is also the sum of two frequencies. Therefore, the harmonic current of negative sequence v-1 order generates harmonic flux density of negative rotation, and the harmonic flux density and the fundamental flux density of positive rotation act to generate v order pulsating torque.
The invention preferentially selects m-v-1 as the frequency order of the target harmonic current. Since the lower the current frequency order the easier it is to control. For example, for a 24 slot 16 pole machine, the order of the pulsating torque is 6, and then the 5 th order negative sequence current harmonic is preferably selected as the nominal target harmonic current.
In the present invention, the torque waveform of the pulsating torque is simulated by finite element calculation, and then the simulation result is fourier-transformed to obtain the order v of the pulsating torque.
The invention obtains the initial phase angle of the target harmonic current
Figure RE-RE-GDA0002945372570000043
And amplitude of current ImThe method comprises the following steps: obtaining the amplitude I of fundamental current; obtaining the initial phase angle of the rated target harmonic current under the rated working condition
Figure RE-RE-GDA0002945372570000044
And the current amplitude Im1(ii) a According to the formula
Figure RE-RE-GDA0002945372570000045
Im＝Im1/INObtaining current amplitude I of target harmonic currentmInitial phase angle of sum current
Figure RE-RE-GDA0002945372570000046
Said INIs the magnitude of the rated current. The method comprises the steps of firstly obtaining rated target harmonic current under rated working conditions, then expanding the current to the whole operation working conditions according to rated working condition points, and obtaining the current amplitude I of the harmonic current under different working conditionsmAnd initial phase angle
Figure RE-RE-GDA0002945372570000047
The invention injects the target harmonic current into the armature winding in real time, thereby ensuring that the torque of the motor is always in an optimized state.
The specific method for obtaining the amplitude I of the fundamental current comprises the following steps: and acquiring position parameters and current parameters of the rotor, calculating the rotating speed and the torque of the rotor according to the position parameters and the current parameters, and deducing the amplitude I of the fundamental current according to the rotating speed and the torque of the rotor.
In the invention, the initial phase angle of the rated target harmonic current under the rated working condition is obtained
Figure RE-RE-GDA0002945372570000051
And the current amplitude Im1The specific method comprises the following steps: the motor is operated under the rated working condition, and the initial phase angle of the rated target harmonic current is obtained through finite element simulation
Figure RE-RE-GDA0002945372570000052
And the current amplitude Im1。
The invention achieves the purpose of injecting the target harmonic current by controlling the power supply through the power electronic switching device. The power electronic switching device is used for controlling the on and off of the power supply. After the target harmonic current is obtained, the corresponding target harmonic voltage can be obtained, and the corresponding target harmonic voltage can be injected into the armature winding by controlling the power electronic switching device, so that the armature winding generates the corresponding target harmonic current.
The invention injects the target harmonic current to the armature winding in real time through the suppression ring, and the suppression ring comprises a position sensor, a current sensor, a controller and a power electronic switching device. The position sensor is used for detecting position information of the rotor, and the current sensor is used for detecting current information of the rotor. The position sensor sends detected position information to the controller in real time, the current sensor sends detected current information to the controller in real time, and the controller calculates target harmonic current according to the position information and the current information and controls the power electronic switching device in real time according to the target harmonic current.
Referring to fig. 2, fig. 2 is a comparison graph of torque waveforms before and after 5 th harmonic current is injected into a 24-slot 16-pole motor. As is apparent from the attached figure 2, after 5 th harmonic current is injected, the torque fluctuation is obviously weakened, and the torque pulse rate is reduced from 38.71% to 6.11%.
Referring to fig. 3, fig. 3 is a comparison of the torque spectrum after fourier decomposition of fig. 2, where 0 is the useful torque and the major harmonic component is the 6 th order torque harmonic. As is apparent from fig. 3, the amplitude of the 6 th order torque harmonic is greatly reduced after injecting the 5 th order harmonic current, but the 0 th order torque is hardly affected, so that the torque quality is greatly improved.
Finally, it should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method of improving torque quality of an electric machine, comprising:
injecting a target harmonic current into the armature winding, the target harmonic current producing a target harmonic flux density component that interacts with a fundamental flux density to produce a pulsating torque component that can attenuate or cancel the pulsating torque of the electric machine.
2. The method of improving torque quality of an electric machine of claim 1, wherein the method of obtaining the target harmonic current comprises:
obtaining the order m of the target harmonic current;
obtaining an initial phase angle of the target harmonic current
Figure FDA0002857552120000011
And the current amplitude Im。
3. The method for improving the torque quality of the motor according to claim 2, wherein the method for obtaining the order m of the target harmonic current comprises:
acquiring the order v of the pulsating torque;
and deriving the order m of the target harmonic current according to the formula m-v-1, wherein the order of the fundamental flux density is 1 order.
4. The method of claim 3, wherein the step v of obtaining the pulsating torque component is obtained by simulating a torque waveform of the pulsating torque through finite element calculation, and performing Fourier transform on a simulation result.
5. The method for improving torque quality of an electric machine according to claim 2, wherein said step of obtaining an initial phase angle of said target harmonic current
Figure FDA0002857552120000012
And the current amplitude ImThe specific method comprises the following steps:
obtaining the amplitude I of fundamental current;
obtaining the initial phase angle of the rated target harmonic current under the rated working condition
Figure FDA0002857552120000013
And the current amplitude Im1；
According to the formula
Figure FDA0002857552120000014
Im＝Im1/INObtaining the current amplitude I of the target harmonic currentmInitial phase angle of sum current
Figure FDA0002857552120000015
Said INIs the magnitude of the rated current.
6. The method for improving the torque quality of the motor according to claim 5, wherein the step of obtaining the initial phase angle of the rated target harmonic current under the rated working condition
Figure FDA0002857552120000016
And the current amplitude Im1The specific method comprises the following steps: the motor is operated under a rated working condition, and the initial phase angle is obtained through finite element simulation
Figure FDA0002857552120000017
And the current amplitude Im1。
7. The method for improving the torque quality of the motor according to claim 5, wherein the specific method for obtaining the amplitude I of the fundamental current is as follows: and acquiring position parameters and current parameters of a rotor, calculating the rotating speed and the torque of the rotor according to the position parameters and the current parameters, and deducing the amplitude I of the fundamental current according to the rotating speed and the torque of the rotor.
8. The method for improving the torque quality of the motor according to claim 7, wherein the obtaining of the position parameter and the current parameter of the rotor is specifically obtained by a position sensor and a current sensor.
9. The method of claim 8, wherein the target harmonic current is injected into the armature winding by a power electronic switching device controlling a power source, the power electronic switching device controlling the turning on and off of the power source.
10. The method of claim 9, wherein the position sensor, the current sensor, and the power electronic switching device are all in communication with a controller, the position sensor and the current sensor transmit the position parameter and the current parameter to the controller in real time, the controller derives the magnitude I of the fundamental current from the position parameter and the current parameter, and finally derives the target harmonic current, and the controller controls the power electronic switching device in real time from the target harmonic current.
CN202011552291.7A 2020-12-24 2020-12-24 Method for improving torque quality of motor Pending CN114679104A (en)

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Application Number Priority Date Filing Date Title
CN202011552291.7A CN114679104A (en) 2020-12-24 2020-12-24 Method for improving torque quality of motor

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CN114679104A true CN114679104A (en) 2022-06-28

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